Send DO when differents fault occur

    Hi guys,
    I have a device i want to stop by sending a DO under differents conditions, like when a collision occur, an e-stop is pressed or a DCS fault is detected
    I been able to send an output when a e-stop is pressed in menu-->system-->config.
    i also set an output for the collision detect in setup--coll guard menu but i can't use the same output as the one i use for e-stop.
    It doesn't really matter, i could use differents signal to stop my device but i didn't find a way to send a DO when a DCS fault occur.

    Edited once, last by ArcMan (February 15, 2014 at 9:21 PM).

    I didn't had the chance to test on real robot but i should be ok for the fence signal with any of both solution you guys gave me.

    The only thing for wich i didn't be able to send a DO yet is the DCS alarm.

    If i could do it withough this option i'll be happy.

    Any idea?

    Thank you

    Monitor the safety variable. You can use the Group Output to run the bitwise operation for you, and map the result to a flag. Or external digital outputs.

    If you have a recent enough controller, then you should have access to flags. Flags are internal Boolean logic, they function like I/O, but no field devices access them. $MIX_LOGIC.$use_flg must be set to TRUE for the flags to be displayed. Flags are mapped like any other I/O in logic.

    Flags are on Rack 34 Slot 1. If you want to push it to a output, you can just map an output either to the flag itself, or you can use I/O Interconnect, or write a BG program to set them equal to each other.

    BG Logic EX.
    : DO[Fence]=F[4:Fence] ;

    Map to DO[i].
    Range [i] - [i+10] Rack 34 Slot 1 Start 1

    see attatched picture.
    Category: Variables
    This variable can be set to a register in logic and have bitwise operations performed to determine the cause of safety faults.
    1 = E-stop on controller.
    2 = E-stop on Teach pendent
    3 = Deadman Trigger on Teach pendent
    4 = Fence circuit
    5 = Robot Overtravel
    6 = Hand Broken
    7 = External E-stop
    8 = Pressure Abnormal
    9 = Belt Broken
    10 = Teach Pendent Enabled
    11 = Fault Alarm

    $MOR.$safety_stat
    Minimum: Not available Maximum: Not available Default: Not available KCL/Data: Not available Program: RO UIF: Not available CRTL: Not available Data Type: INTEGER_SK Memory: Not available

    Name: Safety signals status

    Description: $MOR.$safety_stat is bit parameter of safety signals. The bit assignments are as follows. * Bit position for $safety_stat MFS_EMGOP 1 MFS_EMGTP 2 MFS_DEADMAN 4 MFS_FENCE 8 MFS_ROT 16 MFS_HBK 32 MFS_EMGEX 64 MFS_PPABN 128 MFS_BELTBREAK 256 MFS_ENABLE 512 MFS_FALM 1024 When FLTR task detects the above alarms, FLTR set the bit which corresponds to the alarm.

    Power Up: At a cold start, this variable is reset to its default.

    The setup in the screen shot is very smart. I will keep it and use is in the future.

    Quote from Rjalopes5

    Hi, maybe I'm making a stupid question and I apologize how do I create that instruction with the $MOR.$safety_stat in the register?

    When inside the TP editor:

    F1 "Instructions" -> 1 "Registers" -> 8 "...=(...)" -> 2 "R[ ]"
    ***Enter your desired index for the register to use and hit ENTER***
    Then look for the mixed logic instruction called "Parameter name" and then you need to write the parameter name manually.

    The first $-sign is already there, but subsequent $-signs as well as periods (".") must be entered.
    Take good care not to misspell.

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